How to get the point clouds separately for the SIDE_LEFT and SIDE_RIGHT Lidar data

[kiranb222]

Hi, I wanted to use the SIDE_LEFT and SIDE_RIGHT Lidar range images and get the poincloud from them seperately. However, the tfrecord data I tested displays range image output only for open_dataset.LaserName.TOP and I assume changing the range image display in the tutorial to show_range_image(get_range_image(open_dataset.LaserName.SIDE_LEFT, 0), 1) shall give me the side_left range image. Is my understanding right? or the .tfrecord has only the merged point cloud. In that case how to get the individual point clouds from 5 different lidars mounted. Please help and point me in the right direction

[peisun1115]

You are correct. The point cloud for each LiDAR is stored separately.

[huCHENXI123456]

Hi，I was wondering if there is a script for extracting 3D images.

[mc171819]

Hi, I wanted to use the SIDE_LEFT and SIDE_RIGHT Lidar range images and get the poincloud from them seperately. However, the tfrecord data I tested displays range image output only for open_dataset.LaserName.TOP and I assume changing the range image display in the tutorial to show_range_image(get_range_image(open_dataset.LaserName.SIDE_LEFT, 0), 1) shall give me the side_left range image. Is my understanding right? or the .tfrecord has only the merged point cloud. In that case how to get the individual point clouds from 5 different lidars mounted. Please help and point me in the right direction

Hi, I want to ask did you get the correct SIDE_LEFT range image by changing TOP to SIDE_LEFT? I change all TOP to SIDE_LEFT but I just get a zero tensor and it's totaly black. If you can show me you complete code of getting other view's range view, it will be nice. Thank you very much